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Commit 8ee8710c authored by remi's avatar remi Committed by Maksim Shabunin
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Modifications to reduce the code through a loop 

AKAZE refactoring: fixed indentation and made more minor modifications
parent 715b88c4
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Showing with 62 additions and 178 deletions
modules/features2d/src/kaze/AKAZEFeatures.cpp
View file @ 8ee8710c
......@@ -1117,7 +1117,7 @@ void Upright_MLDB_Full_Descriptor_Invoker::Get_Upright_MLDB_Full_Descriptor(cons
float di = 0.0, dx = 0.0, dy = 0.0;
float ri = 0.0, rx = 0.0, ry = 0.0, xf = 0.0, yf = 0.0;
float sample_x = 0.0, sample_y = 0.0, ratio = 0.0;
int x1 = 0, y1 = 0, sample_step = 0, pattern_size = 0;
int x1 = 0, y1 = 0;
int level = 0, nsamples = 0, scale = 0;
int dcount1 = 0, dcount2 = 0;
......@@ -1125,9 +1125,11 @@ void Upright_MLDB_Full_Descriptor_Invoker::Get_Upright_MLDB_Full_Descriptor(cons
const std::vector<TEvolution>& evolution = *evolution_;
// Matrices for the M-LDB descriptor
Mat values_1 = Mat::zeros(4, options.descriptor_channels, CV_32FC1);
Mat values_2 = Mat::zeros(9, options.descriptor_channels, CV_32FC1);
Mat values_3 = Mat::zeros(16, options.descriptor_channels, CV_32FC1);
Mat values[3] = {
Mat::zeros(4, options.descriptor_channels, CV_32FC1),
Mat::zeros(9, options.descriptor_channels, CV_32FC1),
Mat::zeros(16, options.descriptor_channels, CV_32FC1)
};
// Get the information from the keypoint
ratio = (float)(1 << kpt.octave);
......@@ -1136,190 +1138,72 @@ void Upright_MLDB_Full_Descriptor_Invoker::Get_Upright_MLDB_Full_Descriptor(cons
yf = kpt.pt.y / ratio;
xf = kpt.pt.x / ratio;
// First 2x2 grid
pattern_size = options_->descriptor_pattern_size;
sample_step = pattern_size;
for (int i = -pattern_size; i < pattern_size; i += sample_step) {
for (int j = -pattern_size; j < pattern_size; j += sample_step) {
di = dx = dy = 0.0;
nsamples = 0;
for (int k = i; k < i + sample_step; k++) {
for (int l = j; l < j + sample_step; l++) {
// Get the coordinates of the sample point
sample_y = yf + l*scale;
sample_x = xf + k*scale;
y1 = fRound(sample_y);
x1 = fRound(sample_x);
ri = *(evolution[level].Lt.ptr<float>(y1)+x1);
rx = *(evolution[level].Lx.ptr<float>(y1)+x1);
ry = *(evolution[level].Ly.ptr<float>(y1)+x1);
di += ri;
dx += rx;
dy += ry;
nsamples++;
}
}
di /= nsamples;
dx /= nsamples;
dy /= nsamples;
*(values_1.ptr<float>(dcount2)) = di;
*(values_1.ptr<float>(dcount2)+1) = dx;
*(values_1.ptr<float>(dcount2)+2) = dy;
dcount2++;
}
}
// Do binary comparison first level
for (int i = 0; i < 4; i++) {
for (int j = i + 1; j < 4; j++) {
if (*(values_1.ptr<float>(i)) > *(values_1.ptr<float>(j))) {
desc[dcount1 / 8] |= (1 << (dcount1 % 8));
}
dcount1++;
if (*(values_1.ptr<float>(i)+1) > *(values_1.ptr<float>(j)+1)) {
desc[dcount1 / 8] |= (1 << (dcount1 % 8));
}
dcount1++;
if (*(values_1.ptr<float>(i)+2) > *(values_1.ptr<float>(j)+2)) {
desc[dcount1 / 8] |= (1 << (dcount1 % 8));
}
dcount1++;
}
}
// Second 3x3 grid
sample_step = static_cast<int>(ceil(pattern_size*2. / 3.));
dcount2 = 0;
for (int i = -pattern_size; i < pattern_size; i += sample_step) {
for (int j = -pattern_size; j < pattern_size; j += sample_step) {
di = dx = dy = 0.0;
nsamples = 0;
for (int k = i; k < i + sample_step; k++) {
for (int l = j; l < j + sample_step; l++) {
// Get the coordinates of the sample point
sample_y = yf + l*scale;
sample_x = xf + k*scale;
y1 = fRound(sample_y);
x1 = fRound(sample_x);
ri = *(evolution[level].Lt.ptr<float>(y1)+x1);
rx = *(evolution[level].Lx.ptr<float>(y1)+x1);
ry = *(evolution[level].Ly.ptr<float>(y1)+x1);
di += ri;
dx += rx;
dy += ry;
nsamples++;
// For 2x2 grid, 3x3 grid and 4x4 grid
const int pattern_size = options_->descriptor_pattern_size;
int sample_step[3] = {
pattern_size,
static_cast<int>(ceil(pattern_size*2./3.)),
pattern_size / 2
};
// For the three grids
for (int z = 0; z < 3; z++) {
dcount2 = 0;
const int step = sample_step[z];
for (int i = -pattern_size; i < pattern_size; i += step) {
for (int j = -pattern_size; j < pattern_size; j += step) {
di = dx = dy = 0.0;
nsamples = 0;
for (int k = i; k < i + step; k++) {
for (int l = j; l < j + step; l++) {
// Get the coordinates of the sample point
sample_y = yf + l*scale;
sample_x = xf + k*scale;
y1 = fRound(sample_y);
x1 = fRound(sample_x);
ri = *(evolution[level].Lt.ptr<float>(y1)+x1);
rx = *(evolution[level].Lx.ptr<float>(y1)+x1);
ry = *(evolution[level].Ly.ptr<float>(y1)+x1);
di += ri;
dx += rx;
dy += ry;
nsamples++;
}
}
}
di /= nsamples;
dx /= nsamples;
dy /= nsamples;
*(values_2.ptr<float>(dcount2)) = di;
*(values_2.ptr<float>(dcount2)+1) = dx;
*(values_2.ptr<float>(dcount2)+2) = dy;
dcount2++;
}
}
//Do binary comparison second level
dcount2 = 0;
for (int i = 0; i < 9; i++) {
for (int j = i + 1; j < 9; j++) {
if (*(values_2.ptr<float>(i)) > *(values_2.ptr<float>(j))) {
desc[dcount1 / 8] |= (1 << (dcount1 % 8));
}
dcount1++;
di /= nsamples;
dx /= nsamples;
dy /= nsamples;
if (*(values_2.ptr<float>(i)+1) > *(values_2.ptr<float>(j)+1)) {
desc[dcount1 / 8] |= (1 << (dcount1 % 8));
float *val = values[z].ptr<float>(dcount2);
*(val) = di;
*(val+1) = dx;
*(val+2) = dy;
dcount2++;
}
dcount1++;
if (*(values_2.ptr<float>(i)+2) > *(values_2.ptr<float>(j)+2)) {
desc[dcount1 / 8] |= (1 << (dcount1 % 8));
}
dcount1++;
}
}
// Third 4x4 grid
sample_step = pattern_size / 2;
dcount2 = 0;
for (int i = -pattern_size; i < pattern_size; i += sample_step) {
for (int j = -pattern_size; j < pattern_size; j += sample_step) {
di = dx = dy = 0.0;
nsamples = 0;
for (int k = i; k < i + sample_step; k++) {
for (int l = j; l < j + sample_step; l++) {
// Get the coordinates of the sample point
sample_y = yf + l*scale;
sample_x = xf + k*scale;
y1 = fRound(sample_y);
x1 = fRound(sample_x);
ri = *(evolution[level].Lt.ptr<float>(y1)+x1);
rx = *(evolution[level].Lx.ptr<float>(y1)+x1);
ry = *(evolution[level].Ly.ptr<float>(y1)+x1);
di += ri;
dx += rx;
dy += ry;
nsamples++;
// Do binary comparison
const int num = (z + 2) * (z + 2);
for (int i = 0; i < num; i++) {
for (int j = i + 1; j < num; j++) {
const float * valI = values[z].ptr<float>(i);
const float * valJ = values[z].ptr<float>(j);
for (int k = 0; k < 3; ++k) {
if (*(valI + k) > *(valJ + k)) {
desc[dcount1 / 8] |= (1 << (dcount1 % 8));
}
dcount1++;
}
}
di /= nsamples;
dx /= nsamples;
dy /= nsamples;
*(values_3.ptr<float>(dcount2)) = di;
*(values_3.ptr<float>(dcount2)+1) = dx;
*(values_3.ptr<float>(dcount2)+2) = dy;
dcount2++;
}
}
//Do binary comparison third level
dcount2 = 0;
for (int i = 0; i < 16; i++) {
for (int j = i + 1; j < 16; j++) {
if (*(values_3.ptr<float>(i)) > *(values_3.ptr<float>(j))) {
desc[dcount1 / 8] |= (1 << (dcount1 % 8));
}
dcount1++;
if (*(values_3.ptr<float>(i)+1) > *(values_3.ptr<float>(j)+1)) {
desc[dcount1 / 8] |= (1 << (dcount1 % 8));
}
dcount1++;
if (*(values_3.ptr<float>(i)+2) > *(values_3.ptr<float>(j)+2)) {
desc[dcount1 / 8] |= (1 << (dcount1 % 8));
}
dcount1++;
}
}
} // for (int z = 0; z < 3; z++)
}
void MLDB_Full_Descriptor_Invoker::MLDB_Fill_Values(float* values, int sample_step, int level,
......
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